Robot Core Documentation
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Public Member Functions | |
ReplanningConfig (boolean enableInitialReplanning, boolean enableDynamicReplanning, double dynamicReplanningTotalErrorThreshold, double dynamicReplanningErrorSpikeThreshold) | |
ReplanningConfig (boolean enableInitialReplanning, boolean enableDynamicReplanning) | |
ReplanningConfig () | |
Public Attributes | |
final boolean | enableInitialReplanning |
final boolean | enableDynamicReplanning |
final double | dynamicReplanningTotalErrorThreshold |
final double | dynamicReplanningErrorSpikeThreshold |
Configuration for path replanning
com.pathplanner.lib.util.ReplanningConfig.ReplanningConfig | ( | boolean | enableInitialReplanning, |
boolean | enableDynamicReplanning, | ||
double | dynamicReplanningTotalErrorThreshold, | ||
double | dynamicReplanningErrorSpikeThreshold ) |
Create a path replanning configuration
enableInitialReplanning | Should the path be replanned at the start of path following if the robot is not already at the starting point? |
enableDynamicReplanning | Should the path be replanned if the error grows too large or if a large error spike happens while following the path? |
dynamicReplanningTotalErrorThreshold | The total error threshold, in meters, that will cause the path to be replanned |
dynamicReplanningErrorSpikeThreshold | The error spike threshold, in meters, that will cause the path to be replanned |
com.pathplanner.lib.util.ReplanningConfig.ReplanningConfig | ( | boolean | enableInitialReplanning, |
boolean | enableDynamicReplanning ) |
Create a path replanning configuration with default dynamic replanning error thresholds
enableInitialReplanning | Should the path be replanned at the start of path following if the robot is not already at the starting point? |
enableDynamicReplanning | Should the path be replanned if the error grows too large or if a large error spike happens while following the path? |
com.pathplanner.lib.util.ReplanningConfig.ReplanningConfig | ( | ) |
Create a path replanning configuration with the default config. This will only have initial replanning enabled.
final double com.pathplanner.lib.util.ReplanningConfig.dynamicReplanningErrorSpikeThreshold |
The error spike threshold, in meters, that will cause the path to be replanned
final double com.pathplanner.lib.util.ReplanningConfig.dynamicReplanningTotalErrorThreshold |
The total error threshold, in meters, that will cause the path to be replanned
final boolean com.pathplanner.lib.util.ReplanningConfig.enableDynamicReplanning |
Should the path be replanned if the error grows too large or if a large error spike happens while following the path?
final boolean com.pathplanner.lib.util.ReplanningConfig.enableInitialReplanning |
Should the path be replanned at the start of path following if the robot is not already at the starting point?